The idea for this work starts from the situation in which a metaheuristic-based algorithm has already been developed in order to solve an optimal control problem. This algorithm yields an offline "optimal" solution. On the other hand, the Receding Horizon Control (RHC) structure can be implemented if a process model is available. This work underlines some of the practical aspects of joining the RHC to an existing metaheuristic-based algorithm in order to obtain a closed-loop control structure that can be further used in real-time control. The result is a systematic procedure that integrates a given metaheuristic-based algorithm into a RHC structure.

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International audienceThe new idea in this paper is to make a processing line capable of reprocessing pieces that have not passed the quality test. The focus is to provide a model of the processing line and to introduce in the process a wheeled mobile robot (WMR) equipped with a robotic manipulator (RM) in order to transport pieces, for reprocessing. For this purpose, an processing/reprocessing mechatronics line (P/RML) and a timed hybrid Petri nets (THPN) model will be used in modeling and control of the mechatronics line, with a fixed number of workstations, served by a WMR equipped with (RM). The THPN model is a hybrid type, where P/RML is the discrete part and WMR with RM is the continuous part. The reprocessing starts after the piece fails the quality test. The WMR with RM is used only at the start of reprocessing, in order to transport the pieces from the warehouse to the beginning of the processing line

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